JPH09287969A - On-vehicle navigation apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To delicately conduct a guide of a route in detail by reflecting the user's intention. SOLUTION: The on-vehicle navigation apparatus inputs a destination, searches a route and guides the route, and comprises, in addition to a CD-ROM for storing map data for guiding the route and road data, storage means for storing travel locus data of the usual traveling, and travel locus registering means operated by a user. The apparatus registers the number of travel locus registering times by a user operation to link data and preferentially searches the locus when the number of times is large.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle navigation system in which the locus of a vehicle is sequentially stored in a storage device each time the vehicle travels and the accumulated data is utilized for route search.

[0002]

2. Description of the Related Art Hitherto, various route guidance devices have been proposed for smoothly driving on an unguided road, and by inputting a destination, guidance of a road to be driven to the destination is provided. There is a route guidance device. In this route guidance device, intersection data, road data such as node data, map data, etc. are stored in a CD-ROM, for example, a route to a destination that can be reached in the shortest distance is searched, and the searched route is displayed on the screen. I am trying to display and guide you.

[0003]

In the conventional route guidance device, the route is searched based on the road data stored in the CD-ROM in advance, and it is desired to obtain the searched route utilizing the road that is normally running. In some cases, even if you want to weave your favorite route, it does not always reflect on the searched guide route.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicular navigation device that reflects the user's intention and can provide detailed route guidance.

[0005]

DISCLOSURE OF THE INVENTION According to the present invention, in a vehicle navigation device for inputting a destination, searching for a route, and performing route guidance, a CD-ROM which stores map data, road data, etc. for performing route guidance is stored. In addition to the ROM, a storage unit for storing traveling locus data during normal traveling is provided, and the traveling locus is registered by an external command, and the number of times the traveling locus is registered is registered in the link data. The feature is that the route is searched using.

[0006]

According to the present invention, in addition to the map data, the intersection data, the node data and the destination data which are stored in advance in the CD-ROM for the route guidance, the locus data at the time of running are sequentially fetched. accumulate. Since the travel locus data has accumulated data that has been traveled normally, the required time between nodes, the time required to pass an intersection, etc. can be known and used for route search. In particular, the number of operations is registered for the locus that the user has attempted to register, and the locus with a large number of registered operations is the route that the user wants to utilize. Therefore, it is preferentially handled in the route search. By thus reflecting the number of user operation registrations in the route search, it becomes possible to perform a fine route search in which the user's intention is reflected.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an example of a navigation device according to the present invention. As shown in FIG. 1, a navigation device according to the present invention includes an input / output device 1 for inputting / outputting information regarding route guidance, a current position detecting device 2 for detecting information regarding the current position of the vehicle, and a navigation required for route calculation. Information storage device 3 in which data for travel and display guidance data necessary for guidance and the like are recorded, and a central processing unit 4 which performs route search processing and display guidance processing required for route guidance and controls the entire system Has been done.

The input / output device 1 instructs the central processing unit 4 to perform navigation processing at the will of the driver so that the driver can input the destination or output the guidance information by voice and / or screen when the driver needs it. In addition, it has a function of printing out the processed data. As a means for realizing that function, the input unit includes a touch switch 11 or an operation switch for inputting a destination by a telephone number or coordinates on a map, requesting route guidance, or setting a trajectory. In the output section, the input data is displayed on the screen, the display 12 that automatically displays route guidance and the like on the screen in response to the driver's request, the data processed by the central processing unit 4 and the information storage device 3 are provided. A printer 13 for printing out the stored data, a speaker 16 for outputting route guidance and the like by voice are provided.

Here, a voice recognition device for enabling voice input or a recording card reading device for reading data recorded in an IC card or a magnetic card can be added. In addition, an information center that accumulates data necessary for navigation, provides traffic congestion information, etc. via communication lines at the driver's request, and driver specific data such as map data and destination data is stored in advance. It is also possible to add a data communication device for exchanging data with an information source such as an existing electronic notebook.

The display 12 is composed of a color CRT or a color liquid crystal display, and a target name input screen based on map data or guidance data processed by the central processing unit 4, a route setting screen, a section diagram screen, an intersection diagram. All screens necessary for navigation such as screens and intersections are output in color display, and on this screen, buttons for setting route guidance, guidance during route guidance, and switching screens are displayed. In particular, the passing intersection information such as the passing intersection name is displayed in color in a pop-up on the section map screen at any time.

The display 12 is provided in an instrument panel near the driver's seat. The driver can check the current position of the vehicle by looking at the section map and obtain information on the route from now on. it can. The display 12 is provided with a touch panel 11 corresponding to the display of the function buttons, and is configured to execute the above-described operation based on a signal input by touching the button. The input signal generating means including the button and the touch switch constitutes an input unit, but a detailed description thereof is omitted here.

The current position detecting device 2 stores a GPS receiving device 21 using a satellite navigation system (GPS), a VICS receiving device 22, and data necessary for navigation,
A data transmission / reception device 23 for exchanging data with an information center provided via a communication line in response to a driver's request, an absolute direction sensor 24 including a geomagnetic sensor, a steering sensor, a gyro, etc. It is provided with a relative direction sensor 25, a distance sensor 26 for detecting a traveling distance from the number of rotations of wheels, and the like.

The information storage device 3 includes map data, intersection data, node data, road data, photograph data, registration point data, guidance point data, destination data, telephone number data, a search program, such as a map, necessary for route guidance. 12
A CD-ROM 3a in which all data files and control programs necessary for the navigation device, such as a program for performing a search based on a traveling locus including the process shown in FIG.
The memory card 3b stores a road locus every time it travels and stores locus data that can be used for route search. In this embodiment, the various control programs are C
Although it is stored in the D-ROM 3a, it may be stored in the first ROM provided in the central processing unit 4 described later.

The central processing unit 4 is provided with a CPU 40 for executing various arithmetic processes and a flash memory for reading and storing a program from a CD of an information storage device. This flash memory erases an existing program and makes it rewritable even if the program of the CD is changed. Further, the first ROM 41 storing a program (program reading means) for performing program check and update processing of the flash memory, searched route guidance information such as set destination point coordinates, road number, etc., and data being processed. A second RAM 42 for temporarily storing the display information data necessary for route guidance and map display
A ROM 43, an image memory 44 in which image data used for screen display on the display is stored, and an image processor for extracting image data from the image memory 44 based on a display output control signal from the CPU 40, performing image processing, and outputting to the display. 45, a voice processor 4 for synthesizing a voice, a phrase, a sentence, a sound, etc. read from the RAM 42 based on a voice output control signal from the CPU, converting the synthesized voice into an analog signal, and outputting the analog signal to the speaker 16.
6. A communication interface 47 for exchanging input / output data by communication, a sensor input interface 48 for taking in a sensor signal of the current position detecting device 2, a clock 49 for entering date and time in internal diagnostic information, and the like. There is. Here, route guidance is performed by screen display and voice output, and the presence or absence of voice output is configured to be selectable by the driver.

FIG. 2 shows an example of the structure of main data files stored in the CD-ROM 3a shown in FIG. FIG. 2A shows a guide road data file in which data necessary for calculating a route and performing route guidance by the route calculating means is stored. For each of the number n of roads, a road number, a length, a road It consists of address and size data of attribute data and shape data, and address and size of guidance data. The road number is set for each direction (outbound and return) for each road between the branch points. As shown in FIG. 2B, when each road is divided into a plurality of nodes (nodes), the shape data has coordinate data including east longitude and north latitude for each of the number m of nodes.

As shown in FIG. 2C, the guidance data includes intersection (or branch) name, attention point data, road name data, road name data address, size and destination data address, and size. It consists of data.

As shown in FIG. 2D, the destination data is composed of a destination road number, a destination name, an address of destination name voice data, a size and a destination direction data, and travel guidance data. The destination name includes a direction name. In addition, destination direction data is invalid (do not use destination direction data), unnecessary (do not guide), go straight,
It is data indicating information on the right direction, diagonally right direction, right returning direction, left direction, diagonally left direction, and left returning direction.

Next, the flow of processing of the vehicle navigation device based on the data stored in the information processing device 3 will be described with reference to FIG.

When the program of the route guidance system is started by the CPU 51 of the central processing unit 4, the current position is detected by the current position detecting device 2, the data stored in the information storage device 3 is read, and the current position is determined. The peripheral map is displayed as the center, and the name of the current position is displayed (step S1). Next, a destination is set using a target name such as a place name or a facility name, a telephone number, an address, a registered point, and the like (step S2), and a route search from the current position to the destination is performed (step S3). When the route is determined, the route guidance / display is repeated until the vehicle arrives at the destination while tracking the current position by the current position detecting device 2 (step S4). Next, the trajectory data of the present invention stored in the memory card 3b of FIG. 1 will be described. In the system of the present invention, a memory card for storing the data on the roads that have been traveled as trajectory data is connected, and when searching,
In addition to the data stored in the CD-ROM 3a, locus data can be used.

FIG. 4 is a diagram showing an example of the configuration of node data stored as trajectory data. The point where the azimuth has changed by a predetermined angle or more in order to represent the trajectory of a road on which the vehicle has traveled is taken as the coordinates of its east longitude and north latitude. Numbers are sequentially assigned and stored as nodes. The intersection number is an identification number for identifying a node having a branch as an intersection. For example, a node having no branch is “0”, and a node having a branch is “1”.

FIG. 5 is a diagram showing an example of the structure of link data stored as locus data, in which lines connecting nodes are registered as links. The link has a start node number and an end node number, and therefore has a directionality. The number of times of running is the number of times of actual running, and the number of times of running from the starting point to the ending point and from the ending point to the starting point is updated each time the running is performed. The number of registrations by the user operation is for not only the number of times the vehicle has actually run, but also for remembering the number of times when the user gives a particular instruction and using it for calculation of the search cost and the like. The length of the link is the distance between the nodes, and the average vehicle speed is a value obtained by accumulating the respective speeds because the number of times of running is known. The date and time of running data is the date and time of the last running, or the data of the history of running. The road identification is an identification code for establishing a relationship with the road data stored in the CD-ROM 3a, and the CD-ROM 3
The roads registered in a include a road that is a guidance target and a road that is not a guidance target such as a narrow road. The identification code indicates whether or not the road is a guidance target, or whether it is a CD-R.
This is for identifying whether the road is not registered in the OM 3a. In the case of the data that can be guided by the data of the CD-ROM in the road identification, the road number in the map data of the CD-ROM is registered.
The data is linked to the search results. Since the link has a length sufficiently shorter than that of the road registered in the CD-ROM, the start position and the end position of the road in the map data represent where on one road the distance exists.

FIG. 6 is a diagram showing an example of the structure of intersection data stored as trajectory data, in which a node having a branch is registered as an intersection node. The number of ingress links indicates how many links are included in one intersection, and the advancing link is a link that can proceed to the ingress link. Referring to FIG. 7A showing the relationship between nodes and links, and FIG. 7B showing the relationship between links and intersection nodes, for example, at an intersection node of four crossroads, four ingress links, one ingress link The number of advancing links for is 3. Each advancing link number is assigned to each approaching link number, the number of times of traveling in the approaching to advancing direction, the average time required for passing such as waiting for a signal or turning left or right, date and time data of traveling (date and time of last passing, or passing) History data) is registered.

Next, the route search process of the present invention using CD-ROM data and trajectory data will be described. FIG. 8 shows the selection process of the search method. At the start of the search, a menu screen is displayed for route search by CD-ROM data.
A route search based on trajectory data can be selected.

Next, the route search process using the trajectory data will be described with reference to FIG. In FIG. 9, when the destination is set (step 103) directly from the route search menu screen or after the trajectory setting processing (step 101, step 102), the CPU 51 of the central processing unit 4 is executed.
This starts the program of the route guidance system. Next, the trajectory data is read out, a peripheral link search is performed using the departure node as a search start point, and this search processing is performed until the destination node is reached (steps 104 to 10).
6). In this way, when the route search is completed, the current location is recognized, the traveling loci (nodes, links, intersections) are registered (steps 107 and 108), and route guidance is performed until the destination is reached (step 109, step). 110).

Next, the trajectory setting registration processing by the user operation of the present invention will be described with reference to FIGS.
The trajectory setting registration process by the user operation is a process called from the menu process (step 102) in FIG. That is, as shown in FIG. 10, when the setting of the locus is selected on the route search menu screen, the screen pops up to display the memory, display, and registration items, and when the registration item is selected, the locus is registered. .

In FIG. 11, when the user performs a registration operation on the trajectory registration screen display (step 201, step 202), the trajectory to be registered is compared with the already registered trajectory (step 203) and registered. It is determined whether or not it is a link (step 204). If it is an already registered link, it is added to the number of registrations of the link data by the user operation (see FIG. 5), and if it is not already registered, a new link number is generated and registered (step 206).

Next, with reference to FIG. 12, a peripheral search process in which the required time is the search cost will be described. First, let v be the search cost of the search start node nd (step 60).
1). The search cost v is a variable for weighting and calculating the cost for each link connected to one intersection. It is determined whether the node nd is an intersection node (step 602). If the node nd is an intersection node, the number of advancing links to the search approach link of the node nd is set to nout (step 603), and the process for nout is not completed (step 603). 604), the number of times of traveling in the approach → traveling link direction is extracted from the intersection data (step 605), and the number of times of traveling at the intersection is not 0 (step 60)
6) The time required to pass the intersection (passage required average time) is added to the variable v (step 607), and the internode (link) required time (value obtained by dividing the distance of the link by the average vehicle speed) is added (step 607). 608), and let the result be the search cost of the traveling link. At this time, the number of registrations by the user operation is taken into consideration, and in the case of a link having a large number of registrations, a coefficient smaller than 1 is multiplied to reduce the search cost and the search is performed with priority. Further, the search cost may be reduced depending on the number of registrations, for example, 1 to 5
The search cost may be reduced stepwise depending on the number of times, 6 to 10 times, 11 to 15 times, 16 times or more. The above processing is repeated until the processing for nout is completed. Step 6
If the number of travels is 0 in 06, there is a possibility that entry is prohibited, and therefore no search is performed. In step 602, if the node nd is not an intersection node, a link having the node nd as a starting point is searched from the link data and the number of times of running is extracted (steps 610 and 611). If the number of times of running of the link is not zero (Step 612), the required time between nodes is added to the variable v, and the search cost is calculated (Steps 613 and 614). In Step 612, if the number of times the link travels is 0, there is a possibility of one-way traffic I do not search because there is. Thus, when the search is completed, the search start node is updated. At this time, the node with the lowest cost is selected from the nodes under search, and such processing is performed until the destination node is reached. By this process, the route search with the shortest required time is performed.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of a navigation device according to the present invention.

FIG. 2 is a diagram showing a configuration example of a main data file stored in a CD-ROM.

FIG. 3 is a flowchart for explaining the flow of the entire system.

FIG. 4 is a diagram showing a configuration example of node data.

FIG. 5 is a diagram showing a configuration example of link data.

FIG. 6 is a diagram showing a configuration example of intersection data.

FIG. 7 is a diagram illustrating relationships between nodes and links and between links and intersection nodes.

FIG. 8 is a diagram illustrating selection of a search processing method.

FIG. 9 is a diagram showing a flow of route search processing of the present invention.

FIG. 10 is a diagram showing a screen for setting a trajectory.

FIG. 11 is a diagram illustrating a user operation registration process.

FIG. 12 is a diagram illustrating a peripheral link search processing flow.

[Explanation of symbols]

1 ... Input / output device, 2 ... Current position detection device, 3 ... Information storage device, 3a ... CD-ROM, 3b ... Memory card, 4 ...
Central processing unit, 11 ... Touch switch, 12 ... Display, 13 ... Printer, 16 ... Speaker, 21 ... GPS
Receiving device, 22 ... Beacon receiving device, 23 ... Data transmitting / receiving device, 40 ... CPU, 41 ... First ROM, 42 ... RA
M, 43 ... Second ROM, 44 ... Image memory, 45 ... Image processor, 46 ... Voice processor, 47 ... Communication interface, 48 ... Sensor input interface, 49 ... Clock.

Claims (6)

[Claims] 1. A navigation device for a vehicle, wherein a traveling locus of a vehicle is registered by an external command, and the registered locus data is reflected in search data. 2. A navigation device for a vehicle, wherein a traveling locus of a vehicle is registered according to a command from the outside, and the registered locus data is displayed and output. 3. A current position detecting means for detecting a current position of a vehicle, an input means for inputting information necessary for calculating a destination or a route, and all data required for route guidance are stored. And a route for calculating a route to the destination based on the information input by the input unit and the data stored in the information storage unit The traveling locus data accumulating means includes a calculating means, a route information storing means for storing the route calculated by the route calculating means, and a guiding means for guiding the route based on the route stored in the route information storing means. Registers a traveling locus in response to a command from the outside, and the route calculating means preferentially searches for the traveling locus accumulated by the traveling locus data accumulating means. And a navigation device for a vehicle. 4. A current position detecting means for detecting a current position of a vehicle, an input means for inputting information necessary for calculating a destination and a route, and data necessary for performing route guidance are stored. Further, an information storage unit including a travel locus data storage unit for accumulating travel locus data, and a route calculation unit for calculating a route to a destination based on the information input by the input unit and the data stored in the information storage unit. A route information storage unit that stores the route calculated by the route calculation unit; and a guide unit that guides the route based on the route stored in the route information storage unit, and travels in response to a command from the outside. The number of registrations of the locus is registered in the traveling locus data accumulating unit, and the route calculating unit performs a route search using the locus according to the number of registrations of the traveling locus. Vehicle navigation system. 5. The vehicle navigation device according to claim 1, wherein the number of times the travel locus is registered by the external command is registered for each piece of link data connecting the nodes. . 6. The traveling locus data includes node data added when the azimuth change angle is larger than a predetermined value, and data generated and registered when the node is added, such as length, number of registrations, and average vehicle speed data. 6. The link data for connecting the nodes having the above, and the intersection data including the data including the number of times of travel and the average time required for passing for each traveling link with respect to the incoming link. The vehicle navigation device according to claim 1.